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https://github.com/team846/monkey_menace

Monkey Menace: 846's Robot Codebase for 2025
https://github.com/team846/monkey_menace

846 frc frc-2025 frc-cpp robotics

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Monkey Menace: 846's Robot Codebase for 2025

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README 

        
# 2025 Codebase for FRC Team 846



[![Compilation Check](https://github.com/Team846/monkey_menace/actions/workflows/compilation_check.yaml/badge.svg)](https://github.com/Team846/monkey_menace/actions/workflows/compilation_check.yaml)

[![Formatting Check](https://github.com/Team846/monkey_menace/actions/workflows/formatting_check.yaml/badge.svg)](https://github.com/Team846/monkey_menace/actions/workflows/formatting_check.yaml)

[![CppCheck](https://github.com/Team846/monkey_menace/actions/workflows/cpp_check.yaml/badge.svg)](https://github.com/Team846/monkey_menace/actions/workflows/cpp_check.yaml)



## Overview



Key features will be posted here soon...



## General Project Structure



Code subsystems interact with hardware subsystems by: 1. writing to motors and 2. receiving sensor data. Examples of code subsystems include: driver, pivot, intake.



Commands set targets to these subsystems. Some commands are like actions, such as moving the arm to a setpoint, or deploying the intake. Commands can be compounded to form more complex routines and autos.



- src

  - y2025

    - cpp

      - subsystems

      - commands

      - autos

      - main.cpp

      - FunkyRobot.cc

    - include

      - headers for all files in cpp

    - resources

      - miscellaneous, vision code

  - deploy

    - Nothing yet.

    - Any files placed in this directory will be put onto the RIO's file system during deploy.

    - These files can be accessed by robot code.

- frc846 (arch)

  - Contains motor control classes, logging classes, prefs, etc.

- build

  - tmp

    - Build Logs can be found here.

    - Generated by WPILib build tools, not us.



## First Time Setup - Windows



### --Downloads--



#### WPILib Tools



- Download WPILib tools and WPILib VSCode. Attached are links for versions 2024.3.1 and 2024.3.2.

  - [2024.3.1 WINDOWS](https://packages.wpilib.workers.dev/installer/v2024.3.1/Win64/WPILib_Windows-2024.3.1.iso)

    - Use 2024.3.1 by default. Ask me before downloading 2024.3.2.

  - [2024.3.2 WINDOWS](https://packages.wpilib.workers.dev/installer/v2024.3.2/Win64/WPILib_Windows-2024.3.2.iso)

- Once downloaded, double click on the file. By default, it will be saved in the downloads folder.

- Run the .exe file inside of it. It should be called "WPILib Installer".

- Go through the default setup process.

  - Install everything, NOT tools only.

  - When you get to the installation for WPILib VSCode, select "for this computer only".



#### Git



- Create a GitHub account (which you should already have if you can access this?).

  - If haven't already, send your username to me so I can add you to our organization. This allows you to modify/edit files.

- Download git-scm from [here](https://git-scm.com/download/win).

  - For most people, 64-bit standalone installer.

- Run the file downloaded.

- Go through setup process.

  - If unsure, select default options.



If unfamiliar with GitHub, go through tutorials in the [Using Git](#using-git) section.



#### LLVM



- Download [LLVM](https://github.com/llvm/llvm-project/releases/download/llvmorg-18.1.8/LLVM-18.1.8-win64.exe)

  - Run the downloaded file, go through setup process.

- If "Add LLVM to Path" is an option during setup process, select YES.

  - If not, add `C:\Program Files\LLVM\bin` to PATH

  - Read [this](https://stackoverflow.com/questions/44272416/how-to-add-a-folder-to-path-environment-variable-in-windows-10-with-screensho) for more information on adding files to PATH.



#### CppCheck



- Download [CppCheck](https://github.com/danmar/cppcheck/releases/download/2.16.0/cppcheck-2.16.0-x64-Setup.msi).

- If "Add CppCheck to Path" is an option during setup process, select YES.

  - If not, add `C:\Program Files\Cppcheck` to PATH

  - Read [this](https://stackoverflow.com/questions/44272416/how-to-add-a-folder-to-path-environment-variable-in-windows-10-with-screensho) for more information on adding files to PATH.



### --Setup--



- Clone the repository.

  - Run: `git clone https://github.com/Team846/howler_monkey.git` in terminal.

- Open WPILib VSCode

- In WPILib VSCode, open the folder containing the cloned repository.

  - The path will be `path the clone command was run in + howler_monkey`

- DO NOT change the gradle file. If WPILib VSCode prompts an update to the gradle file, click CANCEL.

- Click on the WPILib icon (the W in the top right corner).

- In the dropdown list, click on `C++: Refresh C++ Intellisense`.

- If it succeeds, the code has been successfully setup on your computer.

- Read the [First Build](#first-build) section.



Deploying:



- When trying to deploy the code to the robot, connect to the robot using either an ethernet cable or by connecting to the radio's network.

- Then, run 'Deploy robot code'.



## First Time Setup - MacOS



Read through the setup process on Windows. This section will only outline the differences. You may need to install [homebrew](https://brew.sh/).



### --Downloads--



Select x64 or arm depending on your chip. If using M1/M2/M3 mac, select arm.



Ignore the LLVM section.



- [WPILib 2024.3.1](https://github.com/wpilibsuite/allwpilib/releases/tag/v2024.3.1).

- [WPILib 2024.3.2](https://github.com/wpilibsuite/allwpilib/releases/tag/v2024.3.2).

- [git-scm](https://git-scm.com/download/mac).

- Clang-format: `brew install clang-format`

- CppCheck: `brew install cppcheck`



### --Setup--



WPILib VSCode is installed in a hard-to-find directory on MacOS. It is usually located in ~/wpilib/202x/vscode/ and is called "Visual Studio Code". For example it can be located in /Users/funkymonkey/wpilib/2024/vscode. If you need help finding it, ask someone who has previously installed WPILib VSCode on MacOS.



It is a good idea to rename the file or move it into your Applications folder and pin it in dock for easy access and differentiation from normal VSCode.



WPILib VSCode will have a W icon in the top right corner, wherease normal VSCode will not.



## First Build



- Click on the WPILib icon in the top right corner of WPILib VSCode.

- Click `WPILib: Build Robot Code`.

- If the code fails to build, it is most likely your fault. Fix the code you changed.

- If you didn't change anything, then ask me for help.



A first build can take over 10 minutes. Subsequent builds should be under 5 minutes.



## Deploying Code to the Robot



- Get permission from a Software Lead.

- Connect to the robot's network or connect directly using an ethernet cable.

- Run `WPILib: Deploy Robot Code`.

- Do not disconnect, stop, or power-cycle the robot for any reason during the deploy. This may damage the RoboRIO.



## Using Git



- [What is Git?](https://www.w3schools.com/git/git_intro.asp?remote=github)

- [Configure](https://www.w3schools.com/git/git_getstarted.asp?remote=github)

  - Only read the "Configure Git" section

- [Commits](https://www.w3schools.com/git/git_commit.asp?remote=github)

- [Branches](https://www.w3schools.com/git/git_branch.asp?remote=github)

- [Branch merging](https://www.w3schools.com/git/git_branch_merge.asp?remote=github)

  - Not as important as the other ones



I have old code, I need to update it:



- `git pull`



I have new code which has been verified by a Software Lead. I need to give others access to it:



- `git add .` <-- The "." means all files

- `git commit -am EXAMPLE_COMMIT_MESSAGE`

- `git push`



I need to switch to a branch:



- `git checkout -b NAME_OF_BRANCH` <-- to create a new branch

- `git checkout NAME_OF_BRANCH` <-- to switch to an existing branch



I need to go back to a previous commit:



- `git log`

- Press SPACE to scroll down and Q (lowercase) to exit.

- Find the hash (the random series of characters/numbers) for the commit you want.

- `git checkout HASH`



To undo the going back:



- `git switch -` <-- goes back to latest commit



## CppCheck Warnings

```

src\frc846\cpp\frc846\robot\swerve\drivetrain.cc:160:64: warning: Variable 'accel_target' is assigned a value that is never used. [unreadVariable]

src\frc846\cpp\frc846\math\collection.cc:25:0: warning: The function 'VerticalDeadband' is never used. [unusedFunction]

src\frc846\cpp\frc846\math\collection.cc:39:0: warning: The function 'CoterminalDifference' is never used. [unusedFunction]

src\frc846\cpp\frc846\math\collection.cc:52:0: warning: The function 'CoterminalSum' is never used. [unusedFunction]

```